惯性环节 KII(s+DTI(+25+D) G(s)= '门s+(T2+25Is+1) X(s)K 环节的放大系数(Gain) 传递函数 G(s)= X.(s)Ts+1 环节的时间常数(time constant) 运动微分方程 T@+x0=,0 dt School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 例2]惯性环节 x(t) 0 k(r-y)=B t 初始位置 B B dy +ky=kx dt G(s)= Y(s) X(s) School of Mechanical Engineering ME369-Lecture 4.1 Shanghai Jiao Tong University Fall 2015 66 ME369-Lecture 4.1 Fall 2015 School of Mechanical Engineering Shanghai Jiao Tong University ( ) ( ) ( ) x t Kx t dt dx t T c r c   ( ) ( ) ( ) 1 c r X s G s X s s K T    运动微分方程 传递函数 2 2 1 1 2 2 1 1 ( 1) ( 2 1) ( ) ( 1) ( 2 1) b c i ai ai ai i i d e v ni ni ni i i i K s s s G s s T s s T s T                     环节的放大系数（Gain） 环节的时间常数（time constant） 惯性环节 ME369-Lecture 4.1 Fall 2015 Initial position 初始位置 School of Mechanical Engineering Shanghai Jiao Tong University d ( ) d y k x y B t   d d y B ky kx t   ( ) ( ) ( ) Y s G s X s  [例2]惯性环节